Contents I. Introduction
Many dynamical systems can be described by Port-Hamiltonian (PH) models, where the energy of the system, the interconnection matrix and the damping matrix are emphasized. These intrinsic properties of the system are suitable within the passivity based control (PBC) framework that exploits these properties to control systems via energy/storage function [1]. An extension of PBC is the interconnection and damping assignment passivity-based control (IDA-PBC), where the goal is to assign a new interconnection, damping matrices, and energy function to the PH system to achieve control objectives [2]. The intrinsic PH formulation of bond graphs (BG) makes them a perfect method for getting the PH structure needed to apply the IDA-PBC technique and give insights of as how to assign the new matrices. The aspect of assigning new interconnection matrices has been covered in the literature in [3] by adding virtual storage elements, which represent the desired closed-loop dynamics without changing the damping matrix. Operation on both structures represents a major difficulty in the process of obtaining controllers for dynamical systems using IDA-PBC [4]. In [4] they remark that in many applications, the desired interconnection and damping matrices can be judiciously chosen by invoking physical considerations [5], [6]. The proposed methodology goes along those lines to find a more systematic approach.
